Create ROS2 Docker image

#ros2   #projects   #deploy   #docker  

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Table of Content

Following the ROS install instructions - Base on ubuntu 22.04 - Install language - Install timezone - Install common application - Create new source.list for ROS and install humble-base

Additional installs and settings - Install some DEV tools like compiler, debugger and python pip - Add user ros

FROM ubuntu:22.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV COLCON_PREFIX_PATH=/opt/ros/humble
ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
ENV PATH=/opt/ros/humble/bin:$PATH
ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV DEBIAN_FRONTEND=

###########################################
#  Develop image 
###########################################
FROM base AS dev

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  ros-dev-tools \
  vim \
  && rm -rf /var/lib/apt/lists/* \
  && rosdep init || echo "rosdep already initialized"

ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # [Optional] Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo git-core bash-completion \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  # Cleanup
  && rm -rf /var/lib/apt/lists/* \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1

Reference

• Allison github